CN116442009A - Industrial robot practical training platform - Google Patents
Industrial robot practical training platform Download PDFInfo
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- CN116442009A CN116442009A CN202310718483.8A CN202310718483A CN116442009A CN 116442009 A CN116442009 A CN 116442009A CN 202310718483 A CN202310718483 A CN 202310718483A CN 116442009 A CN116442009 A CN 116442009A
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- 238000012549 training Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000003801 milling Methods 0.000 claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 33
- 238000003466 welding Methods 0.000 claims description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot training platform, which comprises: a workbench and a control mechanism; install control mechanism on the workstation, keep away from control mechanism install alarm mechanism on the workstation, install the robot on the workstation, be close to the robot install change mechanism on the workstation, this real standard platform of industrial robot, when the tip screw thread of bolt slides to the second thread groove inside, the robot can drive connector and fixed slot and carry out sliding separation again, can continue to install with milling head, the soldered connection when connector roll-off fixed slot is inside, make things convenient for the robot to change the working head under the condition according to different reality, can drive the dwang and rotate when the strip rotates, can drive the cylinder and rotate with the testing table through the bearing when the dwang rotates, can drive the robot and control when the cylinder rotates, make things convenient for the robot to detect in the pivot before the work.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot practical training platform.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Industrial robots, unlike other electromechanical devices, are flexible platforms that implement a process of a type that is entirely determined by the end effector and associated peripheral devices to which they are mounted. For basic teaching, the teaching cannot be conducted only for the functions and operations of the industrial robot, but the industrial robot workstation system is focused on, so that the practical training of the basic structure and basic operations of the industrial robot, the debugging and construction of the workstation system, the programming and communication of the industrial robot and peripheral equipment and the like is realized;
the industrial robot practical training platform is mainly applied to the basic operation teaching stage of the industrial robot, the practical training desk type design is particularly suitable for a standard classroom type practical training field, provides hardware support for students to master basic programming capability and debugging skills, meets teaching requirements, is composed of the industrial robot, a practical training module, a pneumatic tool, a basic rack and auxiliary equipment, can fully learn the industrial robot and peripheral application technologies thereof, really master related practical operation skills, and ensures convenience and safety of a teaching process as much as possible on the premise of not reducing practical training projects and real factory application characteristics;
the existing industrial robot practical training platform can edit basic programming to enable a robot to work when in use, a working head can be driven to carry out operations such as stacking, carrying and welding on workpieces when the robot works, however, different practical training contents need to be used for different working heads, the working heads are generally manually replaced by the working heads through the working tools of the working personnel, the manual replacement of the working heads is very troublesome, time is wasted, the industrial robot practical training platform does not have the function of automatically replacing the working heads, the industrial robot needs to detect a rotating shaft of the industrial robot after the industrial robot is installed, and therefore the working head can pull the robot through hands, so that whether the robot rotates flexibly or not is detected, and the robot rotating flexibility is inconvenient to detect.
Disclosure of Invention
The invention aims to provide an industrial robot practical training platform, which aims to solve the problems that the industrial robot practical training platform in the current market proposed by the background technology has a plurality of defects, does not have the function of automatically replacing a working head, and is inconvenient to detect the rotation flexibility of a robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: an industrial robot training platform, comprising: a workbench and a control mechanism;
the automatic milling machine comprises a workbench, a control mechanism, an alarm mechanism, a robot, a replacement mechanism, a mounting column, a placing groove, a milling head and a welding head, wherein the control mechanism is arranged on the workbench;
the output end of the robot is fixedly connected with a connector, the side surface of the connector is provided with a first thread groove, the side surface of the connector is movably connected in a fixed groove, the fixed groove is respectively arranged at the tops of the clamping head, the milling head and the welding head, the inner side of the fixed groove is provided with a second thread groove in a penetrating way, a bolt is movably connected in the second thread groove, and the top end of the bolt is provided with an inner hexagonal groove;
the inner side of the placing groove is provided with a moving groove, the inner side of the moving groove is provided with a guide groove, the inner side of the guide groove is provided with an operating groove, the side surface of the replacing table is provided with a first motor through a screw, a rotating rod is rotationally connected between the first motor and the operating groove, the side surface of the rotating rod is fixedly connected with a first gear, the inside of the operating groove is fixedly connected with a guide rod, the side surface of the guide rod is movably connected with a first sliding block, and the side surface of the first sliding block is fixedly connected with a rack;
the side face of the rack is movably connected with a guide frame, the end part of the guide frame is fixedly connected with the inside of the operation groove, the side face of the rack is in meshed connection with a first gear, the side face of the first sliding block is fixedly connected with a moving rod through a screw, the other end of the moving rod is fixedly connected with a mounting block through a screw, the side face of the mounting block is provided with a mounting groove, the inside of the mounting groove is movably connected with a mounting plate, and a spring is fixedly connected between the mounting plate and the mounting groove;
the mounting plate is connected with a mounting frame through screws, a second motor is arranged between the mounting frame and the mounting plate, the output end of the mounting plate is fixedly connected with a rotary rod, the end part of the rotary rod is fixedly connected with a hexagonal rotary head, a movable test module is arranged on the workbench close to the control mechanism and the alarm mechanism, the workbench is provided with a fixed clamping module, a first placing table is connected to the workbench close to the control mechanism, a second placing table is connected to the workbench close to the alarm mechanism, a detection module is connected to the workbench close to the second placing table, and a detection mechanism is fixedly connected to the back of the workbench.
Preferably, the detection mechanism is further provided with a detection table, a fixed plate, a first sliding groove, a tooth block, a bearing, a rotating rod, a strip-shaped plate, a third motor, a second gear, an L-shaped fixed plate, a fourth motor, a screw rod, a sliding rod, a second sliding block, an air cylinder, a square block, a second sliding groove, a bidirectional screw rod, an internal thread moving block and a clamping block;
the detection table is fixedly connected to the back of the workbench.
Preferably, the side surface of the detection table is fixedly connected with a fixed plate, and a first sliding groove is formed in the fixed plate;
the inner side of the first sliding groove is fixedly connected with a tooth block.
Preferably, the detection table is connected with a bearing, and a rotating rod is connected in the bearing in a penetrating and rotating manner;
the top of the rotating rod is fixedly connected with a strip-shaped plate.
Preferably, a third motor is arranged on the strip-shaped plate, and the output end of the third motor is fixedly connected with a second gear;
the second gear is connected with the side face of the tooth block in a meshed mode.
Preferably, the strip-shaped plate is connected with an L-shaped fixing plate through a screw, and a fourth motor is arranged on the side surface of the L-shaped fixing plate through a screw;
and a screw rod is rotationally connected between the fourth motor and the L-shaped fixing plate.
Preferably, a sliding rod is fixedly connected between the L-shaped fixing plates, and a second sliding block is connected between the sliding rod and the screw rod.
Preferably, a cylinder is mounted on the second sliding block, and the output end of the cylinder is fixedly connected with a square block.
Preferably, a second sliding groove is formed in the top of the square block, and a bidirectional screw rod is connected in the second sliding groove in a penetrating and rotating mode.
Preferably, the bidirectional screw rod is connected with an internal thread moving block in a threaded manner, and the internal thread moving block is fixedly connected with a clamping block.
Compared with the prior art, the invention has the beneficial effects that: this real platform of instructing of industrial robot, when the tip screw thread of bolt slides to the second thread groove inside, the robot work again can drive connector and fixed slot and carry out sliding separation, can continue to install with the cutter head, the soldered connection when connector roll-off fixed slot is inside, make things convenient for the robot to change the working head under the real condition of instructing according to the difference, can drive the dwang and rotate when the strip rotates, can rotate through bearing and detection platform when the dwang rotates, can drive the cylinder and rotate when the strip rotates, can drive the robot and control when the cylinder rotates and rotate, make things convenient for the robot to detect in the pivot before the work.
1. The working head of the robot can be automatically replaced, the robot can move to the inside of the idle placing groove with the clamping head, after the clamping head moves, the first motor can work to drive the rotating rod to rotate, the rotating rod can drive the first gear to rotate when rotating, the first gear can drive the rack to move in a meshing way when rotating, the rack can slide in a guiding way through the guiding frame when moving, the first sliding block can be driven to move when sliding, the first sliding block can slide in the guiding groove through the guiding rod when moving, the moving rod can drive the installation block to slide in the moving groove when sliding, the installation block can drive the hexagonal rotating head to move when sliding, the hexagonal rotating head can slide when moving to the side surface of the inner hexagonal groove, the second motor can be started to work when the hexagonal rotating head slides into the inner hexagonal groove, the second motor can drive the rotating rod to rotate when working, the hexagonal rotating head can be driven to rotate when rotating the rotating rod, the hexagonal rotating head can drive the bolt to rotate through the inner hexagonal groove when rotating, the bolt can slide with the second thread groove through the first thread groove when rotating, the hexagonal rotating head and the rotating rod can be pushed to move when the bolt slides, the mounting plate can be pushed to move with the second motor when the rotating rod moves, the mounting plate can slide in a guiding way through the mounting groove when moving, the spring can be extruded when the mounting plate slides, when the end thread of the bolt slides into the second thread groove, the robot can work again to drive the connector to slide and separate with the fixed groove, the connector can be continuously installed with the milling head and the welding head when sliding out of the fixing groove, so that the robot can conveniently replace the working head according to different practical training conditions;
2. can carry out automated inspection to the pivot of robot, the output of pulling robot moves between the grip block, rotate two-way lead screw and can drive the internal thread movable block and carry out opposite direction screw thread slip, can drive two sets of grip blocks and carry out the centre gripping fixed to the robot when the internal thread movable block screw thread slides, can start the fourth motor after fixing the robot and drive the screw rod and rotate, can drive the second sliding block and carry out screw thread slip when the screw rod rotates, can lead to the slip through the slide bar when the second sliding block screw thread slides, the second sliding block can drive the cylinder and remove, can carry out fore-and-aft detection to the robot when the cylinder removes, can also drive the regulation from top to bottom of robot through the cylinder work, the third motor work can drive the second gear simultaneously and rotate, can drive the strip shaped plate and rotate when the second gear rotates, can drive the dwang and rotate, can drive the cylinder and rotate when the strip shaped plate rotates, can drive the robot and control when the cylinder rotates, make things convenient for the robot to detect before the pivot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a front view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic side view of the present invention;
FIG. 5 is a perspective enlarged schematic view of the replacing mechanism of the present invention;
FIG. 6 is a schematic view of a front cross-sectional structure of the exchange mechanism of the present invention;
FIG. 7 is a schematic top view of a cross-sectional structure of the exchange mechanism of the present invention;
FIG. 8 is a schematic view of a front cross-sectional structure of the exchange mechanism of the present invention;
FIG. 9 is an enlarged cross-sectional view of a clamping head according to the present invention;
FIG. 10 is a schematic diagram of a three-dimensional enlarged structure of the detection mechanism of the present invention;
FIG. 11 is a schematic view of a three-dimensional enlarged side sectional structure of the present invention;
FIG. 12 is a schematic view of a three-dimensional enlarged top view and enlarged structure of the present invention;
FIG. 13 is an enlarged schematic view of the structure of the portion A of FIG. 8 in the specification of the present invention;
FIG. 14 is an enlarged view of the structure of portion B of FIG. 6 of the present invention;
FIG. 15 is an enlarged view of the structure of portion C of FIG. 11 of the present specification;
fig. 16 is an enlarged view of the structure of the portion D of fig. 11 of the present invention.
In the figure: 1. a work table; 2. a control mechanism; 3. an alarm mechanism; 4. a robot; 5. a replacement mechanism; 501. a mounting column; 502. replacing the table; 503. a placement groove; 504. a clamping head; 505. a milling head; 506. a welding head; 507. a fixing groove; 508. a connector; 509. a first thread groove; 510. a second thread groove; 511. a bolt; 512. an inner hexagonal groove; 513. a moving groove; 514. a guide groove; 515. an operation groove; 516. a first motor; 517. a rotating rod; 518. a first gear; 519. a guide rod; 520. a first slider; 521. a rack; 522. a guide frame; 523. a moving rod; 524. a mounting block; 525. a mounting groove; 526. a mounting plate; 527. a spring; 528. a mounting frame; 529. a second motor; 530. a rotating rod; 531. a hexagonal rotating head; 6. a mobile test module; 7. a fixed clamping module; 8. a first placement stage; 9. a second placement stage; 10. a detection module; 11. a detection mechanism; 1101. a detection table; 1102. a fixing plate; 1103. a first sliding groove; 1104. tooth blocks; 1105. a bearing; 1106. a rotating lever; 1107. a strip-shaped plate; 1108. a third motor; 1109. a second gear; 1110. an L-shaped fixing plate; 1111. a fourth motor; 1112. a screw; 1113. a slide bar; 1114. a second slider; 1115. a cylinder; 1116. square blocks; 1117. a second sliding groove; 1118. a two-way screw rod; 1119. an internal thread moving block; 1120. and a clamping block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-16, the present invention provides a technical solution: an industrial robot training platform, comprising: a workbench 1 and a control mechanism 2;
the workbench 1 is provided with a control mechanism 2, the workbench 1 far away from the control mechanism 2 is provided with an alarm mechanism 3, the workbench 1 is provided with a robot 4, the workbench 1 close to the robot 4 is provided with a replacement mechanism 5, the workbench 1 is fixedly connected with a mounting column 501, the top end of the mounting column 501 is fixedly connected with a replacement table 502, a placing groove 503 is penetrated and arranged on the replacement table 502, the robot 4 can move to the inside of the free placing groove 503 with a clamping head 504, the inside of the placing groove 503 is respectively and movably connected with a milling head 505 and a welding head 506, the milling head 505 and the welding head 506 can process workpieces, the output end of the robot 4 is fixedly connected with a connector 508, the connector 508 can be respectively connected with the clamping head 504, the milling head 505 and the welding head 506, a first thread groove 509 is arranged on the side surface of the connector 508, the bolt 511 can slide with the second thread groove 510 in a thread way through the first thread groove 509, the side of the connector 508 is movably connected in the fixing groove 507, the robot 4 can work again to drive the connector 508 to slide and separate from the fixing groove 507, the fixing groove 507 is respectively arranged at the tops of the clamping head 504, the milling head 505 and the welding head 506, the connector 508 can be continuously installed with the milling head 505 and the welding head 506 when sliding out of the fixing groove 507, the inner side of the fixing groove 507 is penetrated and provided with a second thread groove 510, the second thread groove 510 is movably connected with a bolt 511, the top end of the bolt 511 is provided with an inner hexagonal groove 512, when the hexagonal rotating head 531 moves to the side of the inner hexagonal groove 512, the inner side of the placing groove 503 is provided with a moving groove 513, when the moving rod 523 slides, the moving rod 523 can drive the installation block 524 to slide in the moving groove 513, the inner side of the moving groove 513 is provided with a guide groove 514, the first sliding block 520 can drive the moving rod 523 to slide in the guide groove 514 when sliding, the operating groove 515 is arranged at the inner side of the guide groove 514, the first motor 516 is arranged on the side surface of the replacing table 502 through screws, the first motor 516 can drive the rotating rod 517 to rotate, the rotating rod 517 is rotationally connected between the first motor 516 and the operating groove 515, the rotating rod 517 can drive the first gear 518 to rotate when rotating, the first gear 518 is fixedly connected with the side surface of the rotating rod 517, the rack 521 can be driven to move in a meshing way when rotating, the guide rod 519 is fixedly connected inside the operating groove 515, the first sliding block 520 can slide in a guiding way through the guide rod 519 when moving, the first sliding block 520 is movably connected with the side surface of the guide rod 519, the first sliding block 520 can be driven when the rack 521 slides, the side surface of the first sliding block 520 is fixedly connected with a rack 521, the side surface of the rack 521 is movably connected with a guide frame 522, the rack 521 can slide in a guiding way through the guide frame 522 when moving, the end part of the guide frame 522 is fixedly connected in the operation groove 515, the side surface of the rack 521 is in meshed connection with a first gear 518, the side surface of the first sliding block 520 is fixedly connected with a moving rod 523 through a screw, the other end of the moving rod 523 is fixedly connected with a mounting block 524 through a screw, the side surface of the mounting block 524 is provided with a mounting groove 525, the mounting plate 526 can slide in a guiding way through the mounting groove 525 when moving, a mounting plate 526 is movably connected with a mounting plate 526, a spring 527 is fixedly connected between the mounting plate 526 and the mounting groove 525, the spring 527 can be extruded when the mounting plate 526 slides, a mounting frame 528 is connected with a mounting plate 526 through a screw, a second motor 529 is arranged between the mounting frame 528 and the mounting plate 526, the second motor 529 can be started to work when the hexagonal rotating head 531 slides into the inner hexagonal groove 512, the output end of the mounting plate 526 is fixedly connected with the rotating rod 530, the second motor 529 can drive the rotating rod 530 to rotate when working, the end part of the rotating rod 530 is fixedly connected with the hexagonal rotating head 531, the hexagonal rotating head 531 can be driven to rotate when the rotating rod 530 rotates, the hexagonal rotating head 531 can drive the bolt 511 to rotate through the inner hexagonal groove 512 when rotating, the movable test module 6 is mounted on the workbench 1 close to the control mechanism 2 and the alarm mechanism 3, the fixed clamping module 7 is mounted on the workbench 1, the first placing table 8 is connected on the workbench 1 close to the control mechanism 2, the second placing table 9 is connected on the workbench 1 close to the alarm mechanism 3, the detection module 10 is connected on the workbench 1 close to the second placing table 9, and the detection mechanism 11 is fixedly connected on the back of the workbench 1.
The detection mechanism 11 is further provided with a detection table 1101, a fixed plate 1102, a first sliding groove 1103, a tooth block 1104, a bearing 1105, a rotating rod 1106, a bar-shaped plate 1107, a third motor 1108, a second gear 1109, an L-shaped fixed plate 1110, a fourth motor 1111, a screw 1112, a slide rod 1113, a second sliding block 1114, an air cylinder 1115, a square block 1116, a second sliding groove 1117, a bidirectional screw 1118, an internal thread moving block 1119 and a clamping block 1120, wherein the detection table 1101 is fixedly connected to the back of the workbench 1, and the detection table 1101 can be used as a bearing platform for detection of the robot 4.
The detection table 1101 is fixedly connected with a fixing plate 1102 on the side surface, a first sliding groove 1103 is formed in the fixing plate 1102, the first sliding groove 1103 can guide the second gear 1109, a tooth block 1104 is fixedly connected to the inner side of the first sliding groove 1103, and the second gear 1109 can be meshed and rotated through the tooth block 1104 when rotating.
The detection table 1101 is connected with a bearing 1105, the inside of the bearing 1105 is connected with a rotating rod 1106 in a penetrating and rotating mode, the rotating rod 1106 can rotate with the detection table 1101 through the bearing 1105 when rotating, the top end of the rotating rod 1106 is fixedly connected with a strip-shaped plate 1107, and the rotating rod 1106 can be driven to rotate when the strip-shaped plate 1107 rotates.
The third motor 1108 is installed on the strip-shaped plate 1107, the output end of the third motor 1108 is fixedly connected with the second gear 1109, the third motor 1108 can drive the second gear 1109 to rotate when working, the second gear 1109 is connected to the side face of the tooth block 1104 in a meshed mode, and the strip-shaped plate 1107 can be driven to rotate when the second gear 1109 rotates.
The strip-shaped plate 1107 is connected with an L-shaped fixing plate 1110 through a screw, a fourth motor 1111 is arranged on the side face of the L-shaped fixing plate 1110 through a screw, the fourth motor 1111 can be started to drive a screw 1112 to rotate after the robot 4 is fixed, the screw 1112 is connected between the fourth motor 1111 and the L-shaped fixing plate 1110 in a rotating mode, and the second sliding block 1114 can be driven to slide in a threaded mode when the screw 1112 rotates.
A sliding rod 1113 is fixedly connected between the L-shaped fixing plates 1110, a second sliding block 1114 is connected between the sliding rod 1113 and the screw 1112, and the second sliding block 1114 can conduct guiding sliding through the sliding rod 1113 when sliding in a threaded manner.
The second slider 1114 is provided with the cylinder 1115, the output end of the cylinder 1115 is fixedly connected with the square block 1116, the second slider 1114 can drive the cylinder 1115 to move, and the cylinder 1115 can detect the robot 4 front and back when moving.
The second sliding groove 1117 is formed in the top of the square block 1116, the bidirectional screw rod 1118 is connected in a penetrating and rotating mode in the second sliding groove 1117, the output end of the pulling robot 4 moves between the clamping blocks 1120, and the bidirectional screw rod 1118 can drive the internal thread moving block 1119 to slide in opposite threads.
The bidirectional screw rod 1118 is in threaded connection with an internal thread moving block 1119, the internal thread moving block 1119 is fixedly connected with a clamping block 1120, and when the internal thread moving block 1119 slides in a threaded manner, two groups of clamping blocks 1120 can be driven to clamp and fix the robot 4.
Working principle: when the practical training platform of the industrial robot is used, firstly, the flexibility of a rotating shaft of the robot 4 is required to be detected after the installation of the robot 4 is completed, the output end of the robot 4 is pulled to move between the clamping blocks 1120, the rotating bidirectional screw rod 1118 can drive the internal thread moving blocks 1119 to slide in opposite threads, the internal thread moving blocks 1119 can drive the two groups of the clamping blocks 1120 to clamp and fix the robot 4 when in threaded sliding, the fourth motor 1111 can be started to drive the screw 1112 to rotate after the robot 4 is fixed, the second sliding block 1114 can be driven to slide in a threaded manner when the screw 1112 rotates, the second sliding block 1114 can slide in a guiding manner through the sliding rod 1113 when in threaded sliding, the second sliding block 1114 can drive the air cylinder 1115 to move, the front and back detection of the robot 4 can be carried out when the air cylinder 1115 moves, the up and down adjustment of the robot 4 can be driven through the work of the air cylinder 1115, meanwhile, the third motor 1108 can drive the second gear 1109 to rotate, the second gear 1109 can be meshed and rotated through the tooth block 1104 when rotating, the second gear 1109 can drive the strip-shaped plate 1107 to rotate when rotating, the strip-shaped plate 1107 can drive the rotating rod 1106 to rotate when rotating, the rotating rod 1106 can rotate through the bearing 1105 and the detection table 1101, the cylinder 1115 can be driven to rotate when the strip-shaped plate 1107 rotates, the cylinder 1115 can drive the robot 4 to rotate left and right, the rotation shaft detection can be carried out before the operation of the robot 4, the automatic replacement of the working head can be carried out when the robot 4 is operated, the robot 4 can move into the idle placing groove 503 with the clamping head 504, the first motor 516 can drive the rotating rod 517 to rotate after the movement of the clamping head 504 is completed, the first gear 518 can be driven to rotate when the rotating rod 517 rotates, the first gear 518 can drive the rack 521 to move in a meshing manner when rotating, the rack 521 can slide in a guiding manner through the guide frame 522 when moving, the rack 521 can drive the first sliding block 520 to move when sliding, the first sliding block 520 can slide in a guiding manner through the guide rod 519 when moving, the first sliding block 520 can drive the moving rod 523 to slide in the guide groove 514 when sliding, the moving rod 523 can drive the mounting block 524 to slide in the moving groove 513, the mounting block 524 can drive the hexagonal rotating head 531 to move when sliding, the hexagonal rotating head 531 can slide when moving to the side of the inner hexagonal groove 512, the second motor 529 can be started to work when the hexagonal rotating head 531 slides to the inner part of the inner hexagonal groove 512, the second motor 529 can drive the rotating rod 530 to rotate when working, the rotating rod 530 can drive the hexagonal rotating head 531 to rotate when rotating, the hexagonal rotating head 531 can drive the bolt 511 to rotate through the inner hexagonal groove 512 when rotating, the bolt 511 can slide with the second thread groove 510 through the first thread groove 509 when rotating, the bolt 511 can push the hexagonal rotating head 531 to move with the rotating rod 530 when sliding with the threads, the rotating rod 530 can push the mounting plate 526 to move with the second motor 529, the mounting plate 526 can slide in a guiding way through the mounting groove 525 when moving, the spring 527 can be extruded when the mounting plate 526 slides, when the end thread of the bolt 511 slides into the second thread groove 510, the robot 4 can work again to drive the connector 508 to slide and separate from the fixed groove 507, the connector 508 can continue to be mounted with the milling head 505 and the welding head 506 when sliding out of the fixed groove 507, the robot 4 can replace the working head according to different practical training conditions, what is not described in detail in this specification is prior art known to those skilled in the art.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. An industrial robot training platform, comprising: a workbench (1) and a control mechanism (2), characterized in that;
the automatic milling machine is characterized in that a control mechanism (2) is installed on the workbench (1), an alarm mechanism (3) is installed on the workbench (1) far away from the control mechanism (2), a robot (4) is installed on the workbench (1), a replacement mechanism (5) is installed on the workbench (1) close to the robot (4), a mounting column (501) is fixedly connected to the workbench (1), a replacement table (502) is fixedly connected to the top end of the mounting column (501), a placing groove (503) is formed in the replacement table (502) in a penetrating mode, and a milling head (505) and a welding head (506) are movably connected to the inside of the placing groove (503) respectively;
the output end of the robot (4) is fixedly connected with a connector (508), a first thread groove (509) is formed in the side face of the connector (508), the side face of the connector (508) is movably connected with the inside of a fixed groove (507), the fixed groove (507) is respectively formed in the tops of a clamping head (504), a milling head (505) and a welding head (506), a second thread groove (510) is formed in the inner side of the fixed groove (507) in a penetrating mode, a bolt (511) is movably connected with the inside of the second thread groove (510), and an inner hexagonal groove (512) is formed in the top end of the bolt (511);
the movable rack is characterized in that a movable groove (513) is formed in the inner side of the placing groove (503), a guide groove (514) is formed in the inner side of the movable groove (513), an operation groove (515) is formed in the inner side of the guide groove (514), a first motor (516) is mounted on the side face of the replacing table (502) through a screw, a rotating rod (517) is rotationally connected between the first motor (516) and the operation groove (515), a first gear (518) is fixedly connected to the side face of the rotating rod (517), a guide rod (519) is fixedly connected to the inside of the operation groove (515), a first sliding block (520) is movably connected to the side face of the guide rod (519), and a rack (521) is fixedly connected to the side face of the first sliding block (520).
The side face of the rack (521) is movably connected with a guide frame (522), the end part of the guide frame (522) is fixedly connected with the inside of an operation groove (515), the side face of the rack (521) is connected with a first gear (518) in a meshed mode, the side face of the first sliding block (520) is fixedly connected with a moving rod (523) through a screw, the other end of the moving rod (523) is fixedly connected with a mounting block (524) through a screw, the side face of the mounting block (524) is provided with a mounting groove (525), the inside of the mounting groove (525) is movably connected with a mounting plate (526), and a spring (527) is fixedly connected between the mounting plate (526) and the mounting groove (525);
install mounting bracket (528) through the screwed connection on mounting panel (526), install second motor (529) between mounting bracket (528) and mounting panel (526), the output fixedly connected with rotary rod (530) of mounting panel (526), the tip fixedly connected with hexagonal rotating head (531) of rotary rod (530), be close to control mechanism (2) and alarm mechanism (3) install on workstation (1) and remove test module (6), install fixed centre gripping module (7) on workstation (1), be close to control mechanism (2) be connected with first placing table (8) on workstation (1), be close to alarm mechanism (3) be connected with second placing table (9) on workstation (1), be close to second placing table (9) be connected with detection module (10) on workstation (1), the back fixedly connected with detection mechanism (11) of workstation (1).
2. The industrial robot training platform of claim 1, wherein: the detection mechanism (11) is further provided with a detection table (1101), a fixed plate (1102), a first sliding groove (1103), a tooth block (1104), a bearing (1105), a rotating rod (1106), a strip-shaped plate (1107), a third motor (1108), a second gear (1109), an L-shaped fixed plate (1110), a fourth motor (1111), a screw (1112), a sliding rod (1113), a second sliding block (1114), an air cylinder (1115), a square block (1116), a second sliding groove (1117), a bidirectional screw rod (1118), an internal thread moving block (1119) and a clamping block (1120);
the detection table (1101) is fixedly connected to the back of the workbench (1).
3. The industrial robot training platform of claim 2, wherein: a fixed plate (1102) is fixedly connected to the side face of the detection table (1101), and a first sliding groove (1103) is formed in the fixed plate (1102);
the inner side of the first sliding groove (1103) is fixedly connected with a tooth block (1104).
4. The industrial robot training platform of claim 2, wherein: a bearing (1105) is connected to the detection table (1101), and a rotating rod (1106) is connected to the inside of the bearing (1105) in a penetrating and rotating manner;
the top end of the rotating rod (1106) is fixedly connected with a strip-shaped plate (1107).
5. The industrial robot training platform of claim 2, wherein: a third motor (1108) is mounted on the strip-shaped plate (1107), and the output end of the third motor (1108) is fixedly connected with a second gear (1109);
the second gear (1109) is connected with the side face of the tooth block (1104) in a meshing mode.
6. The industrial robot training platform of claim 2, wherein: an L-shaped fixing plate (1110) is connected to the strip-shaped plate (1107) through screws, and a fourth motor (1111) is arranged on the side surface of the L-shaped fixing plate (1110) through screws;
a screw (1112) is rotatably connected between the fourth motor (1111) and the L-shaped fixing plate (1110).
7. The industrial robot training platform of claim 2, wherein: a sliding rod (1113) is fixedly connected between the L-shaped fixing plates (1110), and a second sliding block (1114) is connected between the sliding rod (1113) and the screw (1112).
8. The industrial robot training platform of claim 2, wherein: an air cylinder (1115) is mounted on the second sliding block (1114), and a square block (1116) is fixedly connected to the output end of the air cylinder (1115).
9. The industrial robot training platform of claim 2, wherein: the top of the square block (1116) is provided with a second sliding groove (1117), and a bidirectional screw rod (1118) is connected inside the second sliding groove (1117) in a penetrating and rotating mode.
10. The industrial robot training platform of claim 2, wherein: an internal thread moving block (1119) is connected to the bidirectional screw rod (1118) in a threaded mode, and a clamping block (1120) is fixedly connected to the internal thread moving block (1119).
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| CN202310718483.8A CN116442009B (en) | 2023-06-16 | 2023-06-16 | Industrial robot practical training platform |
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| CN106652747A (en) * | 2016-12-22 | 2017-05-10 | 北京华航唯实机器人科技有限公司 | Multi-purpose industrial robot teaching station |
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| CN101357687A (en) * | 2008-09-26 | 2009-02-04 | 浙江大学 | Multitask aircraft auxiliary assembly system based on industrial robot |
| CN104700705A (en) * | 2015-01-19 | 2015-06-10 | 清华大学 | Industrial robot teaching system |
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